template<typename Derived, int _Dim>
Eigen::RotationBase class

Common base class for compact rotation representations.

Template parameters
Derived is the derived type, i.e., a rotation type
_Dim the dimension of the space

Contents

Public types

enum (anonymous) { Dim = _Dim }
using RotationMatrixType = Matrix<Scalar, Dim, Dim>
using Scalar = internal::traits<Derived>::Scalar
using VectorType = Matrix<Scalar, Dim, 1>

Public functions

template<typename OtherVectorType>
auto _transformVector(const OtherVectorType& v) const -> VectorType
auto derived() const -> const Derived&
auto derived() -> Derived&
auto inverse() const -> Derived
auto matrix() const -> RotationMatrixType
auto operator*(const Translation<Scalar, Dim>& t) const -> Transform<Scalar, Dim, Isometry>
auto operator*(const UniformScaling<Scalar>& s) const -> RotationMatrixType
template<typename OtherDerived>
auto operator*(const EigenBase<OtherDerived>& e) const -> internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType
template<int Mode, int Options>
auto operator*(const Transform<Scalar, Dim, Mode, Options>& t) const -> Transform<Scalar, Dim, Mode>
auto toRotationMatrix() const -> RotationMatrixType

Friends

template<typename OtherDerived>
auto operator*(const EigenBase<OtherDerived>& l, const Derived& r) -> RotationMatrixType
auto operator*(const DiagonalMatrix<Scalar, Dim>& l, const Derived& r) -> Transform<Scalar, Dim, Affine>

Enum documentation

template<typename Derived, int _Dim>
enum Eigen::RotationBase<Derived, _Dim>::(anonymous)

Enumerators
Dim

Typedef documentation

template<typename Derived, int _Dim>
typedef Matrix<Scalar, Dim, Dim> Eigen::RotationBase<Derived, _Dim>::RotationMatrixType

corresponding linear transformation matrix type

template<typename Derived, int _Dim>
typedef internal::traits<Derived>::Scalar Eigen::RotationBase<Derived, _Dim>::Scalar

the scalar type of the coefficients

template<typename Derived, int _Dim>
typedef Matrix<Scalar, Dim, 1> Eigen::RotationBase<Derived, _Dim>::VectorType

Function documentation

template<typename Derived, int _Dim> template<typename OtherVectorType>
VectorType Eigen::RotationBase<Derived, _Dim>::_transformVector(const OtherVectorType& v) const

template<typename Derived, int _Dim>
const Derived& Eigen::RotationBase<Derived, _Dim>::derived() const

template<typename Derived, int _Dim>
Derived& Eigen::RotationBase<Derived, _Dim>::derived()

template<typename Derived, int _Dim>
Derived Eigen::RotationBase<Derived, _Dim>::inverse() const

Returns the inverse rotation

template<typename Derived, int _Dim>
RotationMatrixType Eigen::RotationBase<Derived, _Dim>::matrix() const

Returns an equivalent rotation matrix This function is added to be conform with the Transform class' naming scheme.

template<typename Derived, int _Dim>
Transform<Scalar, Dim, Isometry> Eigen::RotationBase<Derived, _Dim>::operator*(const Translation<Scalar, Dim>& t) const

Returns the concatenation of the rotation *this with a translation t

template<typename Derived, int _Dim>
RotationMatrixType Eigen::RotationBase<Derived, _Dim>::operator*(const UniformScaling<Scalar>& s) const

Returns the concatenation of the rotation *this with a uniform scaling s

template<typename Derived, int _Dim> template<typename OtherDerived>
internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const EigenBase<OtherDerived>& e) const

Returns

the concatenation of the rotation *this with a generic expression e e can be:

  • a DimxDim linear transformation matrix
  • a DimxDim diagonal matrix (axis aligned scaling)
  • a vector of size Dim

template<typename Derived, int _Dim> template<int Mode, int Options>
Transform<Scalar, Dim, Mode> Eigen::RotationBase<Derived, _Dim>::operator*(const Transform<Scalar, Dim, Mode, Options>& t) const

Returns the concatenation of the rotation *this with a transformation t

template<typename Derived, int _Dim>
RotationMatrixType Eigen::RotationBase<Derived, _Dim>::toRotationMatrix() const

Returns an equivalent rotation matrix

template<typename Derived, int _Dim> template<typename OtherDerived>
RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)

Returns the concatenation of a linear transformation l with the rotation r

template<typename Derived, int _Dim>
Transform<Scalar, Dim, Affine> operator*(const DiagonalMatrix<Scalar, Dim>& l, const Derived& r)

Returns the concatenation of a scaling l with the rotation r